TrapezoidProfile

A trapezoid-shaped velocity profile.

While this class can be used for a profiled movement from start to finish, the intended usage is to filter a reference's dynamics based on trapezoidal velocity constraints. To compute the reference obeying this constraint, do the following.

Initialization:

TrapezoidProfile.Constraints constraints =
  new TrapezoidProfile.Constraints(kMaxV, kMaxA);
TrapezoidProfile.State previousProfiledReference =
  new TrapezoidProfile.State(initialReference, 0.0);

Run on update:

TrapezoidProfile profile =
  new TrapezoidProfile(constraints, unprofiledReference, previousProfiledReference);
previousProfiledReference = profile.calculate(timeSincePreviousUpdate);

where `unprofiledReference` is free to change between calls. Note that when the unprofiled reference is within the constraints, `calculate()` returns the unprofiled reference unchanged.

Otherwise, a timer can be started to provide monotonic values for `calculate()` and to determine when the profile has completed via `isFinished()`. Source